Auradou, 21, was arrested along with La Rochelle flanker Oscar Jegou in July after winning their first French caps against Argentina in Mendoza.
Both men deny rape and were allowed to return home in September.
On Friday, Argentine prosecutors recommended dismissing the charges against the two players.
"He was serene and determined," Piqueronies told reporters after Pau lost 11-10 in a French Top 14 match at Perpignan.
"He played very well, efficient like he was last season.
"The crowd's welcome? We had no specific worries about it," he added.
Despite his frosty reception, some Perpignan fans were indifferent over Auradou's return to action.
"As long as he's presumed innocent, I don't see why he can't play again," said longtime Perpignan season ticket holder Robert who only gave his first name.
"Nothing stops him from doing his job and his job is to play rugby."
Auradou started Saturday's game and his first real contribution came when he caught a 10th-minute lineout five metres from the Perpignan line but Pau were penalised and the hosts cleared.
Seven minutes later, he had his first touch in open play but was tackled by Perpignan's English prop Kieran Brookes.
With six minutes to go, Auradou was replaced by Thomas Jolmes with the traditionally vocal Perpignan crowd whistling from the stands as their side trailed 10-8.
With Auradou off the field, the home side's Antoine Aucagne kicked an 84th-minute penalty to claim victory.
